PCL - MLS代碼研讀（五）- 曲率計算函數

最新推荐文章于 2024-06-26 22:13:54 发布

keineahnung2345

最新推荐文章于 2024-06-26 22:13:54 发布

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PCL - MLS代碼研讀（五）- 曲率計算函數

前言

本篇延續PCL - MLS代碼研讀（二），繼續介紹曲率計算函數。

calculatePrincipalCurvatures

Eigen::Vector2f
pcl::MLSResult::calculatePrincipalCurvatures (const double u, const double v) const
{
  Eigen::Vector2f k (1e-5, 1e-5);

  //k1,k2:principal curvature
  // Note: this use the Monge Patch to derive the Gaussian curvature and Mean Curvature found here http://mathworld.wolfram.com/MongePatch.html
  // Then:
  //      k1 = H + sqrt(H^2 - K)
  //      k2 = H - sqrt(H^2 - K)
  if (order > 1 && c_vec.size () >= (order + 1) * (order + 2) / 2 && std::isfinite (c_vec[0]))
  {
    const PolynomialPartialDerivative d = getPolynomialPartialDerivative (u, v);
    const double Z = 1 + d.z_u * d.z_u + d.z_v * d.z_v;
    //連結裡e,f,g的分母
    const double Zlen = std::sqrt (Z);
    //Gaussian curvature
    const double K = (d.z_uu * d.z_vv - d.z_uv * d.z_uv) / (Z * Z);
    //mean curvature
    const double H = ((1.0 + d.z_v * d.z_v) * d.z_uu - 2.0 * d.z_u * d.z_v * d.z_uv + (1.0 + d.z_u * d.z_u) * d.z_vv) / (2.0 * Zlen * Zlen * Zlen);
    //按照這裡的公式計算k1及k2: https://mathworld.wolfram.com/PrincipalCurvatures.html
    const double disc2 = H * H - K;
    assert (disc2 >= 0.0);
    const double disc = std::sqrt (disc2);
    k[0] = H + disc;
    k[1] = H - disc;

    //k[0]的絕對值要比較小?
    if (std::abs (k[0]) > std::abs (k[1])) std::swap (k[0], k[1]);
  }
  else
  {
    PCL_ERROR ("No Polynomial fit data, unable to calculate the principal curvatures!\n");
  }

  return (k);
}